In view of the above discussion and the importance of EL systems in real-life scenarios, it is imperative to formulate a dedicated ARC framework for uncertain EL systems. Towards this front,
Adaptive Switching-gain based Robust Control (ASRC) is presented in this paper for tracking control of uncertain EL systems. The formulation of ASRC is insensitive towards the nature of the uncertainties, i.e., it can negotiate uncertainties that can be either LIP or NLIP. ASRC utilizes LIP structure of the upper bound of uncertainty and does not presume the overall uncertainty (or its time derivative) to be upper bounded by a constant. The adaptive law of ASRC prevents the switching gain from becoming a monotonically increasing function by allowing the switching gain to decrease within a finite time when tracking error decreases. Moreover, ASRC alleviates the overestimation-underestimation problem of switching gain. To realize the effectiveness, the performance of ASRC is compared with ASMC [1]}-[2]} experimentally using PIONEER 3 wheeled mobile robot (WMR).
